devtools/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2026-04-10 11:34:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

bug #1411: fix usage of alignment information in vectorization of quaternion product and conjugate.

Browse Source 
(grafted from f2a553fb7b
)
This commit is contained in:
Gael Guennebaud
2017-06-07 10:10:30 +02:00
parent 72fa6775e8
commit 983ace99d4
2 changed files with 44 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
Eigen/src/Geometry/Quaternion.h
View File

@@ -423,7 +423,7 @@ typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd;
// Generic Quaternion * Quaternion product
// This product can be specialized for a given architecture via the Arch template argument.
namespace internal {
template<int Arch, class Derived1, class Derived2, typename Scalar, int _Options> struct quat_product
template<int Arch, class Derived1, class Derived2, typename Scalar> struct quat_product
{
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
return Quaternion<Scalar>
@@ -446,8 +446,7 @@ QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) c
EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
return internal::quat_product<Architecture::Target, Derived, OtherDerived,
typename internal::traits<Derived>::Scalar,
EIGEN_PLAIN_ENUM_MIN(internal::traits<Derived>::Alignment, internal::traits<OtherDerived>::Alignment)>::run(*this, other);
typename internal::traits<Derived>::Scalar>::run(*this, other);
}
/** \sa operator*(Quaternion) */
@@ -672,7 +671,7 @@ EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
// Generic conjugate of a Quaternion
namespace internal {
template<int Arch, class Derived, typename Scalar, int _Options> struct quat_conj
template<int Arch, class Derived, typename Scalar> struct quat_conj
{
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived>& q){
return Quaternion<Scalar>(q.w(),-q.x(),-q.y(),-q.z());
@@ -691,8 +690,7 @@ EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
QuaternionBase<Derived>::conjugate() const
{
return internal::quat_conj<Architecture::Target, Derived,
typename internal::traits<Derived>::Scalar,
internal::traits<Derived>::Alignment>::run(*this);
typename internal::traits<Derived>::Scalar>::run(*this);
}